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PMAC2 User Manual
ii Table of Contents
Debugging ..........................................................................................................................................................30
Establishing Basic Current Loop Operation............................................................................................................31
Purpose...............................................................................................................................................................31
Digital Current Loop Gains................................................................................................................................31
Preparation.........................................................................................................................................................32
Executing the Current-Loop Test........................................................................................................................32
Clean-Up ............................................................................................................................................................32
SETTING UP PMAC2 FOR SINE-WAVE OUTPUT CONTROL ......................................................................33
How to Set up the Commutation Scheme................................................................................................................33
Hardware Setup.......................................................................................................................................................33
DAC Output Signals ...........................................................................................................................................33
Amplifier Enable and Fault Interface .................................................................................................................33
Encoder Feedback ..............................................................................................................................................33
Supplemental Flags ............................................................................................................................................34
Other Signals ......................................................................................................................................................34
PMAC2 Parameter Setup ........................................................................................................................................34
Parameters to Set Up Global Hardware Signals................................................................................................34
Parameters to Set Up Per-Channel Hardware Signals ......................................................................................35
Parameters to Set Up Motor Operation..............................................................................................................35
Establishing Basic Output Operation ......................................................................................................................37
Executing the Test...............................................................................................................................................37
Verifying Basic Operation ..................................................................................................................................37
Evaluating the Polarity Match............................................................................................................................37
SETTING UP PMAC2 COMMUTATION (DIRECT PWM OR SINE WAVE) ................................................39
Operation of the Digital Current Loops...................................................................................................................39
Confirming Commutation Polarity Match...............................................................................................................39
Synchronous Motor Test.....................................................................................................................................39
Asynchronous Motor Test ...................................................................................................................................39
Correcting Polarity Mismatch, Synchronous and Asynchronous Motors...........................................................40
Establishing A Phase Reference (Synchronous Motors Only) ................................................................................40
Purpose...............................................................................................................................................................40
Preparation.........................................................................................................................................................40
Current Command Six-Step Test.........................................................................................................................41
Direction Balance Fine Phasing Test .................................................................................................................42
Using Hall-Effect Sensors for Phase Reference .................................................................................................43
Power-On Phasing Search..................................................................................................................................47
Final Phase Correction with Index Pulse...........................................................................................................50
What To Do Next ....................................................................................................................................................51
SETTING UP PMAC2 FOR VELOCITY OR TORQUE CONTROL ................................................................53
Single Output Command.........................................................................................................................................53
Hardware Setup.......................................................................................................................................................53
DAC Output Signals ...........................................................................................................................................53
Amplifier Enable and Fault Interface .................................................................................................................53
Encoder Feedback ..............................................................................................................................................53
Supplemental Flags ............................................................................................................................................53
Other Signals ......................................................................................................................................................53
PMAC2 Parameter Setup ........................................................................................................................................53
Parameters to Set Up Global Hardware Signals................................................................................................53
Parameters to Set Up Per-Channel Hardware Signals ......................................................................................55
Parameters to Set Up Motor Operation..............................................................................................................55
SETTING UP PMAC2 FOR PULSE-AND-DIRECTION CONTROL................................................................57
Pulse-And-Direction Format Input..........................................................................................................................57
Hardware Connection..............................................................................................................................................57
Signal Timing..........................................................................................................................................................58
- ^1 USER MANUAL 1
- Copyright Information 2
- Operating Conditions 2
- Figures 7
- INTRODUCTION 9
- Configuration for a Task 10
- PMAC2 is a Computer 10
- Manual Layout 11
- Safety Summary 12
- Technical Support 13
- PMAC2 User Manual 14
- 6 Introduction 14
- BASIC MOTOR SETUP ON PMAC2 15
- To encoder/Timer 17
- Activating the Motor 18
- Command Output Address 18
- Flag Address 19
- Power-Up Mode 19
- Commutation Parameters 19
- Frames of Reference 21
- Working in the Field Frame 22
- MPLIFIER 23
- Hardware Setup 24
- PMAC2 Parameter Setup 25
- 1902I1901I3900I*2 27
- 10I +++= 27
- Commutation Enable: Ix01 28
- Command Output Address: Ix02 28
- PWM Scale Factor: Ix66 29
- Hardware Connection 31
- I-Variable Setup 32
- Purpose 33
- Preparation 33
- PWM/ADC Phase Match 35
- Voltage Six-Step Test 36
- Executing the Test 37
- Action To Take 37
- Cleaning Up 38
- Debugging 38
- Digital Current Loop Gains 39
- Clean-Up 40
- PMAC2 User Manual 43
- Verifying Basic Operation 45
- Synchronous Motor Test 47
- Asynchronous Motor Test 47
- I179=0 I129=0 49
- I175=M171-(M175*I170) 51
- Using the Test Results 53
- Overall Procedure Summary 54
- Power-On Phasing Search 55
- Two-Guess Phasing Search 56
- Stepper-Motor Phasing Search 56
- J/ ; Close servo loop 57
- What To Do Next 59
- Single Output Command 61
- Encoder Decode Control: I9n0 63
- Output Mode Control: I9n6 63
- Signal Timing 66
- Parameter Setup 66
- Encoder Conversion Table 68
- Scale Factors: Ix08, Ix09 69
- )kHz(ServoFreq*666032Ix 70
- Testing the Setup 71
- Ring Cycle Frequency Control 75
- Interface Type 81
- Signal Formats 81
- FM Format Select: I9n6 83
- MLDT Feedback Select: I9n0 84
- Table Result Register 84
- Scaling the Feedback Units 86
- JIO Port 87
- Direction Control 88
- Inversion Control 88
- Alternate Uses 88
- Multiplexer Port (JTHW) 89
- JANA Port 90
- Multiplexing Principle 91
- Analog Data Table 91
- Servo Feedback Use 93
- Absolute Power-On Position 94
- Principle of Operation 96
- Initial Setup 96
- + HomeOffset 97
- PIC Registers 99
- Interrupt Source Signals 100
- Position Compare 5 (EQU5) 101
- Watchdog 101
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